version: 66.06
glider: 146
mission: 5
dive: 372
start: 10 9 110 16 46 44
data:
$ID,146
$MISSION,5
$DIVE,372
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52407
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-254871.19
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3001
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043563824
$SEABIRD_T_H,0.00063101487
$SEABIRD_T_I,2.4083547e-05
$SEABIRD_T_J,2.5612533e-06
$SEABIRD_C_G,-9.9059887
$SEABIRD_C_H,1.1423759
$SEABIRD_C_I,-0.0019893181
$SEABIRD_C_J,0.00023308786
$GPS1,163701,2251.206,-15753.606,58,0.9,58,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.2
$GPS2,164550,2251.105,-15753.574,14,1.1,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.129,0.196
$KALMAN_X,-268050.5,-87.2,-433.1,297882.2,980.5
$KALMAN_Y,-532085.4,44.9,-480.5,663131.2,-365.8
$MHEAD_RNG_PITCHd_Wd,316.6,13000,-19.8,-10.040
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-85.07,0.000,2,0.000,0.000,475,1740,3464,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.4,-8.8,11,126,11.65,2.53,-0.20,0.000,4,0.154,0.040,2688,3347,3478,0,0,0,0,0,0
$GC,260,-1.30,-116.8,39.2,-15.7,29,265,0.12,2.53,0.00,0.000,6,0.129,0.030,2713,1789,3480,0,0,0,0,0,0
$GC,528,-1.25,-116.8,81.4,-14.0,53,532,0.00,2.42,0.00,0.000,4,0.000,0.023,2713,3345,3480,0,0,0,0,0,0
$GC,569,-1.25,-116.8,88.5,-13.8,56,573,0.00,2.50,0.00,0.000,6,0.000,0.028,2713,1792,3480,0,0,0,0,0,0
$GC,833,-1.25,-116.8,117.8,-10.1,80,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1790,3481,0,0,0,0,0,0
$GC,1098,-1.25,-116.8,146.4,-11.7,105,1102,0.00,2.72,0.00,0.000,4,0.000,0.065,2713,187,3482,0,0,0,0,0,0
$GC,1130,-1.25,-116.8,150.4,-12.3,107,1135,0.00,2.47,0.00,0.000,6,0.000,0.022,2713,1837,3482,0,0,0,0,0,0
$GC,1393,-1.25,-116.8,181.8,-11.4,131,1397,0.00,2.35,0.00,0.000,4,0.000,0.025,2713,3352,3482,0,0,0,0,0,0
$GC,1415,-1.25,-116.8,184.5,-11.1,132,1425,0.00,2.50,0.00,0.000,6,0.000,0.032,2713,1806,3482,0,0,0,0,0,0
$GC,1705,-1.25,-116.8,210.6,-8.3,151,1709,0.00,2.72,0.00,0.000,4,0.000,0.067,2713,195,3482,0,0,0,0,0,0
$GC,1749,-1.29,-116.8,214.9,-9.2,152,1753,0.00,2.50,0.00,0.000,6,0.000,0.016,2713,1831,3482,0,0,0,0,0,0
$GC,2028,-1.29,-116.8,241.7,-10.2,159,2032,0.00,2.80,0.00,0.000,4,0.000,0.064,2713,196,3482,0,0,0,0,0,0
$GC,2060,-1.29,-116.8,245.8,-12.7,159,2066,0.00,2.47,0.00,0.000,6,0.000,0.021,2713,1813,3482,0,0,0,0,0,0
$GC,2310,-1.33,-116.8,272.6,-10.6,166,2314,0.00,2.40,0.00,0.000,4,0.000,0.035,2713,3334,3482,0,0,0,0,0,0
$GC,2358,-1.43,-116.8,277.0,-9.7,167,2363,0.10,2.45,0.00,0.000,6,0.084,0.032,2678,1815,3482,0,0,0,0,0,0
$GC,2642,-1.43,-116.8,306.0,-10.0,174,2646,0.00,2.85,0.00,0.000,4,0.000,0.079,2678,189,3481,0,0,0,0,0,0
$GC,2702,-1.43,-116.8,313.0,-11.2,175,2706,0.00,2.53,0.00,0.000,6,0.000,0.022,2678,1802,3481,0,0,0,0,0,0
$GC,2965,-1.43,-116.8,341.7,-11.3,182,2969,0.00,2.47,0.00,0.000,4,0.000,0.043,2678,3345,3480,0,0,0,0,0,0
$GC,2991,-1.43,-116.8,345.2,-11.4,182,2995,0.00,2.50,0.00,0.000,6,0.000,0.042,2678,1822,3480,0,0,0,0,0,0
$GC,3241,-1.43,-116.8,374.0,-11.6,188,3245,0.00,2.45,0.00,0.000,4,0.000,0.035,2678,3345,3479,0,0,0,0,0,0
$GC,3259,-1.43,-116.8,375.8,-11.3,188,3263,0.00,2.53,0.00,0.000,6,0.000,0.048,2678,1828,3479,0,0,0,0,0,0
$GC,3519,-1.43,-116.8,402.8,-10.2,195,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1828,3478,0,0,0,0,0,0
$GC,3763,-1.43,-116.8,426.8,-9.7,201,3767,0.00,2.45,0.00,0.000,4,0.000,0.045,2678,3340,3476,0,0,0,0,0,0
$GC,3820,-1.48,-116.8,432.4,-9.7,202,3824,0.00,2.58,0.00,0.000,6,0.000,0.058,2678,1833,3476,0,0,0,0,0,0
$GC,4086,-1.48,-116.8,458.0,-9.7,209,4091,0.00,3.03,0.00,0.000,4,0.000,0.110,2678,193,3474,0,0,0,0,0,0
$GC,4135,-1.48,-116.8,463.9,-12.0,210,4140,0.00,2.60,0.00,0.000,6,0.000,0.035,2678,1805,3474,0,0,0,0,0,0
$GC,4409,-1.48,-116.8,493.2,-10.9,217,4413,0.00,2.60,0.00,0.000,4,0.000,0.060,2678,3352,3472,0,0,0,0,0,0
$GC,4453,-1.55,-116.8,498.4,-10.9,218,4457,0.00,2.60,0.00,0.000,6,0.000,0.058,2678,1826,3472,0,0,0,0,0,0
$STATE,4466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4466,begin apogee
$GC,4471,-0.31,0.0,500.2,10.7,218,4572,1.12,0.00,97.32,0.921,6,0.086,0.000,2929,1826,3001,0,0,0,0,0,0
$STATE,4573,end apogee,CONTROL_FINISHED_OK
$STATE,4573,begin climb
$GC,4577,1.38,116.8,504.4,0.0,221,4689,1.52,2.72,100.88,0.900,4,0.047,0.051,3305,3394,2523,0,0,0,0,0,0
$GC,4747,1.34,176.3,502.8,6.6,225,4806,0.00,2.70,52.15,0.881,6,0.000,0.053,3305,1830,2282,0,0,0,0,0,0
$GC,5074,1.24,176.3,472.3,10.0,233,5080,0.17,2.62,0.00,0.000,4,0.156,0.039,3271,3409,2273,0,0,0,0,0,0
$GC,5129,1.25,184.4,467.0,9.6,234,5143,0.00,2.70,6.95,0.715,6,0.000,0.051,3271,1830,2249,0,0,0,0,0,0
$GC,5400,1.28,201.9,442.2,9.0,241,5425,0.00,3.08,16.90,0.830,4,0.000,0.105,3270,235,2176,0,0,0,0,0,0
$GC,5437,1.23,209.9,438.7,9.6,241,5451,0.00,2.60,8.60,0.747,6,0.000,0.031,3271,1832,2144,0,0,0,0,0,0
$GC,5731,1.23,209.9,408.7,10.4,249,5736,0.00,2.60,0.00,0.000,4,0.000,0.041,3270,3409,2139,0,0,0,0,0,0
$GC,5805,1.23,209.9,400.8,10.9,250,5809,0.00,2.67,0.00,0.000,6,0.000,0.049,3271,1836,2138,0,0,0,0,0,0
$GC,6054,1.23,209.9,374.0,10.5,256,6059,0.00,2.58,0.00,0.000,4,0.000,0.038,3271,3417,2136,0,0,0,0,0,0
$GC,6077,1.23,209.9,371.6,10.1,256,6082,0.00,2.67,0.00,0.000,6,0.000,0.050,3271,1836,2136,0,0,0,0,0,0
$GC,6333,1.24,216.9,346.2,9.6,263,6346,0.00,2.88,6.30,0.680,4,0.000,0.084,3270,230,2116,0,0,0,0,0,0
$GC,6353,1.26,235.2,344.3,9.0,263,6377,0.00,2.60,18.25,0.793,6,0.000,0.026,3271,1860,2041,0,0,0,0,0,0
$GC,6665,1.31,273.2,318.2,7.8,271,6705,0.00,2.95,34.92,0.798,4,0.000,0.070,3271,228,1886,0,0,0,0,0,0
$GC,6718,1.34,301.5,313.3,8.4,272,6751,0.00,2.60,26.30,0.772,6,0.000,0.022,3271,1846,1770,0,0,0,0,0,0
$GC,7028,1.39,301.5,282.0,10.5,280,7033,0.12,2.85,0.00,0.000,4,0.085,0.070,3305,229,1762,0,0,0,0,0,0
$GC,7050,1.39,301.5,278.5,13.6,280,7054,0.00,2.55,0.00,0.000,6,0.000,0.022,3305,1822,1761,0,0,0,0,0,0
$GC,7305,1.39,301.5,245.3,12.9,287,7309,0.00,2.53,0.00,0.000,4,0.000,0.038,3305,3400,1761,0,0,0,0,0,0
$GC,7356,1.47,301.5,239.0,12.3,288,7360,0.00,2.60,0.00,0.000,6,0.000,0.038,3305,1822,1759,0,0,0,0,0,0
$GC,7627,1.47,301.5,206.6,12.2,295,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1822,1758,0,0,0,0,0,0
$GC,7884,1.47,301.5,177.4,11.1,313,7888,0.00,2.75,0.00,0.000,4,0.000,0.071,3305,238,1758,0,0,0,0,0,0
$GC,7900,1.47,301.5,174.9,11.3,314,7905,0.00,2.53,0.00,0.000,6,0.000,0.027,3305,1857,1757,0,0,0,0,0,0
$GC,8163,1.47,301.5,146.2,10.9,338,8167,0.00,2.42,0.00,0.000,4,0.000,0.029,3305,3396,1757,0,0,0,0,0,0
$GC,8198,1.53,301.5,142.2,10.9,340,8207,0.08,2.58,0.00,0.000,6,0.064,0.039,3332,1841,1756,0,0,0,0,0,0
$GC,8462,1.53,301.5,113.0,11.0,365,8466,0.00,2.75,0.00,0.000,4,0.000,0.063,3332,236,1756,0,0,0,0,0,0
$GC,8473,1.49,301.5,111.3,11.3,365,8479,0.00,2.53,0.00,0.000,6,0.000,0.020,3332,1854,1756,0,0,0,0,0,0
$GC,8736,1.49,301.5,83.1,10.9,390,8740,0.00,2.78,0.00,0.000,4,0.000,0.063,3332,236,1756,0,0,0,0,0,0
$GC,8756,1.49,301.5,80.8,12.1,391,8760,0.00,2.50,0.00,0.000,6,0.000,0.020,3331,1839,1756,0,0,0,0,0,0
$GC,9026,1.54,316.5,54.2,9.2,415,9043,0.00,2.53,11.93,0.542,4,0.000,0.028,3332,3386,1709,0,0,0,0,0,0
$GC,9118,1.71,352.5,46.1,8.0,422,9160,0.17,2.55,31.90,0.563,6,0.174,0.034,3377,1830,1562,0,0,0,0,0,0
$GC,9454,1.71,352.5,6.6,12.3,463,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1830,1559,0,0,0,0,0,0
$STATE,9470,end climb,SURFACE_DEPTH_REACHED
$STATE,9470,begin surface coast
$FINISH,0.4,1.010992
$STATE,9513,end surface coast,CONTROL_FINISHED_OK
$STATE,9513,begin surface
$SM_CCo,9536,61.83,0.442,1,0,1287,420.20
$SM_GC,1.12,0.00,0.00,61.83,0.000,0.000,0.442,479,1739,1287,-11.60,-0.88,420.20
$IRIDIUM_FIX,2244.02,-15754.11,030100,131307
$TT8_MAMPS,0.026078
$HUMID,51.22
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.70
$XPDR_PINGS,57
$24V_AH,23.5,52.104
$10V_AH,10.1,50.404
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.925,141.050,412.400,61.825,0.000,23.394,36.510,328.201,14.250,0.000,15.662,982.985,6087.701,531.548,1853.639,675.455,33.365,1272.328,0.000,1847.437,0.000,0.535,0.000
$DEVICE_MAMPS,174.109,110.448,921.167,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.122,277.015,360.037,686.176,1039.030,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,38259,471
$CAP_FILE_SIZE,108732,0
$CFSIZE,260165632,160366592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091010,192738,2251.900,-15753.719,10,2.0,10,10.1